A 3-D Tube Scanning Technique Based on Axis and Center Alignment of Multi-laser Triangulation

  • Seung-Hae Baek
  • Soon-Yong Park
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6915)

Abstract

This paper presents a novel 3D tube scanning technique based on a multi-laser triangulation. A multi-laser and camera module, which will be mounted in front of a mobile robot, captures a sequence of 360 degree shapes of the inner surface of a cylindrical tube. In each scan of the sequence, a circular shape, which is composed of four partial ellipses, is reconstructed from a multilaser triangulation technique. To reconstruct a complete shape of the tube, the center and axis of the circular shape in each scan are aligned to a common tube model. To overcome inherent alignment noises due to off-axis robot motion, sensor vibration, and etc., we derive and apply a 3D Euclidean transformation matrix in each scan. In experimental results, we show that the proposed technique reconstructs very accurate 3D shapes of a tube even though there is motion vibration.

Keywords

Camera Motion Circular Shape Cylindrical Tube Tube Axis Linear Stage 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Seung-Hae Baek
    • 1
  • Soon-Yong Park
    • 1
  1. 1.School of Computer Science and EngineeringKyungpook National UniversityDaeguRepublic of Korea

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